CN117206645B - Double-wire high-speed welding robot - Google Patents
Double-wire high-speed welding robot Download PDFInfo
- Publication number
- CN117206645B CN117206645B CN202311486337.3A CN202311486337A CN117206645B CN 117206645 B CN117206645 B CN 117206645B CN 202311486337 A CN202311486337 A CN 202311486337A CN 117206645 B CN117206645 B CN 117206645B
- Authority
- CN
- China
- Prior art keywords
- welding
- wire
- long conductor
- welding wire
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 248
- 239000004020 conductor Substances 0.000 claims abstract description 74
- 239000007788 liquid Substances 0.000 claims abstract description 23
- 238000000926 separation method Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000002131 composite material Substances 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 239000010953 base metal Substances 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a double-wire high-speed welding robot, which particularly relates to the field of welding, and comprises a walking robot, a double-wire welding unit and a balancing unit, wherein the double-wire welding unit is used for welding joints between workpieces; the balancing unit includes a first long conductor arranged in parallel with the first wire, a second long conductor arranged in parallel with the second wire, a first connection circuit for supplying current to the first long conductor in a direction opposite to the first wire, and a second connection circuit for supplying current to the second long conductor in a direction opposite to the second wire. According to the invention, the electromagnetic repulsive force formed between the first long conductor and the first welding wire is outwards expanded, and the electromagnetic repulsive force formed between the second long conductor and the second welding wire is outwards expanded, so that the outwards expanded electromagnetic repulsive force between the first welding wire and the second welding wire is counteracted, the unidirectional electromagnetic force applied to the welding pool liquid is eliminated, the separation of the welding pool liquid is inhibited, and the welding quality is ensured.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a double-wire high-speed welding robot.
Background
Double wire submerged arc welding is an arc welding method with two welding wires, and has high deposition rate and welding speed. Wherein, the two-wire welding of the Tandem method is that two welding wires form the same molten pool on a workpiece. Because its power supply and wire feeding mechanism are independent, can set up respectively according to the welding needs when carrying out the regulation of welding parameter, can better control electric arc like this, it is comparatively convenient to use.
In practical application, however, the two-wire welding of the Tandom consists of two wire feeding mechanisms, two independent power supplies and the like, and because the two welding wires are controlled by different direct current power supplies respectively, when the direct current arc directions of the two welding wires are opposite during welding, the two welding wires are regarded as parallel conductors, and opposite ampere force-repulsive force (namely, the direction of the electromagnetic force applied to the left welding wire is leftwards and the direction of the electromagnetic force applied to the right welding wire is rightwards) is generated between the two welding wires based on the right hand rule and the left hand rule of electromagnetism, and the repulsive force can push uncoagulated liquid in a welding pool between welding seams of workpieces to be mutually far away to form a gap; when the thickness of the welded workpiece is increased, in order to ensure welding penetration, the current of the direct current arc is increased, the repulsive force between the two welding wires is increased, and the larger the component force of the liquid of the welding pool is, the larger the distance between the liquid at two sides of the welding pool is, so that gaps are easily generated between the welding seams of the two workpieces, and the welding quality is affected.
Disclosure of Invention
The invention provides a double-wire high-speed welding robot, which aims to solve the problems that: the current of the existing double welding wires is increased, so that the repulsive force between the two welding wires is increased, gaps are generated between welding seams of the two workpieces, and the welding quality is further affected.
In order to achieve the above purpose, the present invention provides the following technical solutions: a double-wire high-speed welding robot comprises a walking robot, a double-wire welding unit for welding joints between workpieces and a balancing unit for counteracting repulsive force between a first welding wire and a second welding wire after the first welding wire and the second welding wire are electrified;
the walking robot is used for carrying the double-wire welding unit to walk along a welding path;
the double-wire welding unit comprises two wire feeding mechanisms, two independent direct current power supplies, a first welding wire, a second welding wire, two conducting nozzles and a welding gun, wherein the two wire feeding mechanisms are respectively used for feeding the first welding wire and the second welding wire, the first welding wire and the second welding wire are correspondingly arranged on two sides of a central line of a welding path, the two conducting nozzles are respectively used for coating the first welding wire and the second welding wire, and the two conducting nozzles are both arranged in the welding gun;
the balancing unit includes a first long conductor arranged in parallel with the first wire, a second long conductor arranged in parallel with the second wire, a first connection circuit for supplying current to the first long conductor in a direction opposite to the first wire, and a second connection circuit for supplying current to the second long conductor in a direction opposite to the second wire.
In a preferred embodiment, the twin wire welding unit further comprises a contact tip, the first mounting frame is mounted on the walking robot, the contact tip is mounted on the first mounting frame, and the welding gun is mounted on the second mounting frame.
In a preferred embodiment, the wire feeding mechanism comprises a wire drum, a first wheel and a second wheel, the wire drum is mounted on the second mounting frame, the first wheel and the second wheel are both rotatably mounted on the second mounting frame, the rotation directions of the first wheel and the second wheel are opposite, the wheel surface of the first wheel and the wheel surface of the second wheel compress the first welding wire or the second welding wire, and when the first wheel and the second wheel rotate, the first welding wire and the second welding wire are pushed to be fed.
In a preferred embodiment, the wire feeding mechanism further comprises a driving gear, one end of the driving gear is connected with the output end of the motor, two first wheels and two second wheels are arranged along the feeding direction of the welding wire, one ends of the two first wheels are coaxially and fixedly connected with driven gears, the two driven gears located on the same side of the welding wire are meshed with the driving gear, and when the driving gear rotates, the two driven gears located on the same side of the welding wire rotate in the same direction.
In a preferred embodiment, the wires in the first and second connection circuits are provided with telescoping sections for providing a margin for movement of the first or second long conductors, and the first and second long conductors are provided with a balancing unit movement mechanism outside for driving the balancing unit away from or towards the twin wire welding unit.
In a preferred embodiment, the balance unit moving mechanism comprises a second frame, a second cylinder is mounted on the second frame, the output end of the second cylinder is connected with a clamping jaw, the clamping jaw is used for clamping the first long conductor or the second long conductor, and the telescopic direction of the second cylinder is perpendicular to the axial direction of the first long conductor.
In a preferred embodiment, the balancing unit moving mechanism further comprises a third mounting frame, the third mounting frame is mounted on the walking robot, a first frame is mounted at one end of the third mounting frame, a first cylinder is mounted on the first frame, the output end of the first cylinder is connected with the second frame, and the expansion direction of the first cylinder is axially parallel to the first long conductor.
In a preferred embodiment, the first frame has a first guide bar for guiding the first cylinder in a telescopic manner, and the second frame has a second guide bar for guiding the second cylinder in a telescopic manner.
In a preferred embodiment, the walking robot is provided with a weld monitoring unit for monitoring the separation state of the weld joint solution in real time, the weld monitoring unit comprises a camera for shooting the picture of molten pool liquid at the welding place in real time, a sliding rheostat connected in series with the first connecting circuit or the second connecting circuit, a comparison program for comparing the separation distance of the molten pool liquid at the welding place in the picture shot by the camera with a preset calibration, and a processing system for adjusting the sliding rheostat based on the output welding quality of the comparison program and changing the current flowing through the first long conductor and the second long conductor.
A double-wire high-speed welding method comprises the following steps,
s1, establishing a welding seam real-time monitoring model, setting molten pool liquid separation distance standards in different welding seams, defining welding quality corresponding to different separation distances, inputting the welding quality calibration into a processing system as calibration, and editing a welding quality real-time monitoring program;
s2, monitoring welding quality information in real time, shooting a picture of molten pool liquid at a welding position in real time through a camera, obtaining a welding quality result of the welding position at the moment based on comparison between a separation distance of the molten pool liquid in the shot picture and a preset calibration, and transmitting the welding quality result information to a processing system;
s3, current adjustment, wherein the processing system adjusts the sliding rheostat assembly to a corresponding adjustment distance based on the input welding quality result.
The invention has the technical effects and advantages that:
according to the invention, the composite electromagnetic field between the parallel electrified conductors is formed between the first long conductor and the first welding wire, and the electromagnetic repulsive force formed between the first long conductor and the first welding wire is outwards expanded, and the electromagnetic repulsive force formed between the second long conductor and the second welding wire is outwards expanded, so that the outwards expanded electromagnetic repulsive force between the first welding wire and the second welding wire is counteracted, the unidirectional electromagnetic force applied to the welding pool liquid is eliminated, the separation of the welding pool liquid is inhibited, and the welding quality is ensured.
Drawings
FIG. 1 is a schematic view showing the overall structure of the present invention.
Fig. 2 is a schematic perspective view of a twin wire welding unit according to the present invention.
Fig. 3 is a schematic diagram of the front view of fig. 2 according to the present invention.
Fig. 4 is a schematic diagram showing a state in which the twin wire welding unit of the present invention is mated with the balancing unit.
Fig. 5 is a schematic diagram of a matching structure of a balancing unit and a balancing unit moving mechanism according to the present invention.
Fig. 6 is a schematic perspective view of a balance unit moving mechanism according to the present invention.
Fig. 7 is an enlarged schematic view of the structure of fig. 2 a according to the present invention.
Fig. 8 is a schematic diagram of a principle of the Tandem double wire bonding proposed in the background art of the present invention.
Fig. 9 is a flow chart of the welding method of the present invention.
The reference numerals are: 1. a walking robot; 11. a first mounting frame; 2. a double wire welding unit; 21. a first welding wire; 22. a second welding wire; 23. a second mounting frame; 24. a contact tip; 25. a wire feeding mechanism; 251. a drive gear; 252. a wire spool; 253. a first wheel; 254. a second wheel; 255. a driven gear; 3. a balancing unit; 31. a first long conductor; 32. a second long conductor; 33. a telescoping section; 4. a balance unit moving mechanism; 41. a third mounting frame; 42. a first rack; 43. a first cylinder; 44. a first guide rod; 45. a second rack; 46. a second cylinder; 47. a second guide rod; 5. a clamping mechanism; 51. a driving member; 52. a clamping jaw; 6. and a weld monitoring unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 8 of the drawings, a twin-wire high-speed welding robot includes a walking robot 1, a twin-wire welding unit 2 for welding a joint between a workpiece and the workpiece, and a balancing unit 3 for counteracting a repulsive force between a first welding wire 21 and a second welding wire 22 after being energized;
the walking robot 1 is used for carrying the double-wire welding unit 2 to walk along a welding path;
the double-wire welding unit 2 comprises two wire feeding mechanisms 25, two independent direct current power supplies, a first welding wire 21, a second welding wire 22, two conducting nozzles 24 and a welding gun, wherein the two wire feeding mechanisms 25 are respectively used for feeding the first welding wire 21 and the second welding wire 22, the first welding wire 21 and the second welding wire 22 are correspondingly arranged on two sides of a central line of a welding path, the two conducting nozzles 24 are respectively used for wrapping the first welding wire 21 and the second welding wire 22, and the two conducting nozzles 24 are both installed in the welding gun;
the balancing unit 3 comprises a first long conductor 31 arranged in parallel with the first welding wire 21, a second long conductor 32 arranged in parallel with the second welding wire 22, a first connection circuit for providing the first long conductor 31 with a current in the opposite direction to the first welding wire 21, and a second connection circuit for providing the second long conductor 32 with a current in the opposite direction to the second welding wire 22.
In the present invention, the influence of the diameters of the first long conductor 31 and the second long conductor 32 on the electromagnetic force is not considered, that is, the first long conductor 31 and the second long conductor 32 are the same as the first welding wire 21 and the second welding wire 22 by default, and the influence of the structural difference on the electromagnetic force is eliminated.
In this embodiment, the implementation scenario specifically includes: after the double-wire welding unit 2 and the balance unit 3 are both arranged on the walking robot 1, the walking robot 1 drives the first welding wire 21 and the second welding wire 22 to walk along a welding path between workpieces; the two welding wires are respectively positioned at the left side and the right side of the welding seam and walk along a welding path together with the walking robot 1;
in the welding process, the first welding wire 21 and the second welding wire 22 are melted, a molten pool is formed at the welding seam, the workpiece and the workpiece are welded and fixed, meanwhile, the first connecting circuit is that the first long conductor 31 is electrified with current with the direction opposite to that of the first welding wire 21, the second connecting circuit is that the second long conductor 32 is electrified with current with the direction opposite to that of the second welding wire 22, and the current values of the first long conductor 31 and the second long conductor 32 are not smaller than the current values provided by a direct current power supply to the first welding wire 21 or the second welding wire 22, so that a composite electromagnetic field between parallel electrified conductors is formed between the first long conductor 31 and the first welding wire 21, electromagnetic repulsive force formed between the first long conductor 31 and the first welding wire 21 is outwards expanded, and electromagnetic repulsive force formed between the second long conductor 32 and the second welding wire 22 is outwards expanded, so that the outwards expanded electromagnetic repulsive force between the first welding wire 21 and the second welding wire 22 is counteracted, the unidirectional electromagnetic force is further eliminated, the welding pool liquid is subjected to separation, and the welding quality is ensured.
The double-wire welding unit 2 further comprises a conducting nozzle 24, the first mounting frame 11 is mounted on the walking robot 1, the conducting nozzle 24 is mounted on the first mounting frame 11, and the welding gun is mounted on the second mounting frame 23.
The wire feeding mechanism 25 includes a wire drum 252, a first wheel 253 and a second wheel 254, the wire drum 252 is mounted on the second mounting frame 23, the first wheel 253 and the second wheel 254 are both rotatably mounted on the second mounting frame 23, the rotation directions of the first wheel 253 and the second wheel 254 are opposite, the wheel surface of the first wheel 253 and the wheel surface of the second wheel 254 press the first welding wire 21 or the second welding wire 22, and when the first wheel 253 and the second wheel 254 rotate, the first welding wire 21 and the second welding wire 22 are pushed to be fed.
The wire feeding mechanism 25 further includes a driving gear 251, one end of the driving gear 251 is connected to an output end of the motor, two first wheels 253 and two second wheels 254 are arranged along the feeding direction of the welding wire, one ends of the two first wheels 253 are coaxially and fixedly connected with driven gears 255, the two driven gears 255 located on the same side of the welding wire are meshed with the driving gear 251, and when the driving gear 251 rotates, the two driven gears 255 located on the same side of the welding wire rotate in the same direction.
In one embodiment of the invention, the wires in the first and second connection circuits are each provided with a telescoping section 33 for providing a margin for movement of the first or second long conductor 31, 32, and a balancing unit moving mechanism 4 is provided outside the first and second long conductors 31, 32 for driving the balancing unit 3 away from or towards the twin wire welding unit 2.
In one embodiment of the present invention, the walking robot 1 is provided with a weld monitoring unit 6 for monitoring the separation state of the weld solution in real time, the weld monitoring unit 6 comprises a camera for photographing the molten pool liquid picture of the welding place in real time, a slide rheostat connected in series with the first connection circuit or the second connection circuit, a processing system for adjusting the slide rheostat based on the comparison between the molten pool liquid separation distance of the welding place in the photographed picture of the camera and the preset calibration, and based on the output welding quality of the comparison program, and changing the current flowing through the first long conductor 31 and the second long conductor 32.
In one embodiment of the present invention, the balancing unit moving mechanism 4 includes a second frame 45, a second cylinder 46 is mounted on the second frame 45, an output end of the second cylinder 46 is connected to a clamping jaw 52, the clamping jaw 52 is used for clamping the first long conductor 31 or the second long conductor 32, and a telescopic direction of the second cylinder 46 is perpendicular to the axial direction of the first long conductor 31.
The output end of the balancing unit moving mechanism 4 is connected to a clamping mechanism 5, wherein the clamping mechanism 5 includes a driving member 51 (a rotating motor), and the output end of the driving member 51 is connected to a clamping jaw 52 that can be opened and closed automatically.
In one embodiment of the present invention, the balancing unit moving mechanism 4 further includes a third mounting frame 41, the third mounting frame 41 is mounted on the walking robot 1, a first frame 42 is mounted on one end of the third mounting frame 41, a first cylinder 43 is mounted on the first frame 42, an output end of the first cylinder 43 is connected to the second frame 45, and a telescopic direction of the first cylinder 43 is axially parallel to the first long conductor 31.
When the current level is not adjusted in the first long conductor connection circuit or the second long conductor connection circuit, the distance between the first long conductor 31 and the first welding wire 21 and the distance between the second long conductor 32 and the second welding wire 22 are adjusted by controlling the balance unit moving mechanism 4 based on the real-time information of the separation state of the weld joint solution output by the weld joint monitoring unit 6, so that the magnitude of the offset electromagnetic force provided by the first long conductor 31 to the first welding wire 21 and the magnitude of the offset electromagnetic force provided by the second long conductor 32 to the second welding wire 22 are changed, and the electromagnetic repulsive force between the first and second welding wires 21 and 22 can be offset more accurately by the first and second long conductors 31 and 32, thereby ensuring the welding quality in the welding process.
The first frame 42 is provided with a first guide rod 44 for guiding the first cylinder 43 in a telescopic manner, and the second frame 45 is provided with a second guide rod 47 for guiding the second cylinder 46 in a telescopic manner.
In one embodiment of the invention, the heat dissipation assembly comprises a fan and a motor for providing power for the fan, wherein the motor is connected with the output end of the connecting circuit in the balance unit 3 and is used for air-cooling and heat dissipation of the workpiece so as to reduce heat input in the welding process and facilitate improvement of the performance of the base metal.
Referring to fig. 9 of the specification, a twin wire high speed welding method includes the steps of:
s1, establishing a welding seam real-time monitoring model, setting molten pool liquid separation distance standards in different welding seams, defining welding quality corresponding to different separation distances, inputting the welding quality calibration into a processing system as calibration, and editing a welding quality real-time monitoring program;
s2, monitoring welding quality information in real time, shooting a picture of molten pool liquid at a welding position in real time through a camera, obtaining a welding quality result of the welding position at the moment based on comparison between a separation distance of the molten pool liquid in the shot picture and a preset calibration, and transmitting the welding quality result information to a processing system;
and S3, current adjustment, wherein the processing system adjusts the sliding rheostat assembly to a corresponding adjustment distance based on an input welding quality result so as to achieve the current magnitude of the first long conductor connecting loop or the second long conductor connecting loop corresponding to the welding seam separation distance.
In this embodiment, the implementation scenario specifically includes: based on the real-time information of the separation state of the weld joint solution output by the weld joint monitoring unit 6, the sliding rheostat is adjusted, the current in the first connecting circuit or the second connecting circuit is changed, so that the electromagnetic repulsive force between the first welding wire 21 and the second welding wire 22 can be offset more accurately by the first long conductor 31 and the second long conductor 32, and the welding quality in the welding process is ensured.
Finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A double-wire high-speed welding robot is characterized in that: the welding device comprises a walking robot (1), a double-wire welding unit (2) for welding joints between workpieces and a balancing unit (3) for counteracting repulsive force between a first welding wire (21) and a second welding wire (22) after being electrified;
the walking robot (1) is used for carrying the double-wire welding unit (2) to walk along a welding path;
the double-wire welding unit (2) comprises two wire feeding mechanisms (25), two independent direct current power supplies, a first welding wire (21), a second welding wire (22), two conducting nozzles (24) and a welding gun, wherein the two wire feeding mechanisms (25) are respectively used for feeding the first welding wire (21) and the second welding wire (22), the first welding wire (21) and the second welding wire (22) are correspondingly arranged on two sides of a central line of a welding path, the two conducting nozzles (24) are respectively used for wrapping the first welding wire (21) and the second welding wire (22), and the two conducting nozzles (24) are both installed in the welding gun;
the balancing unit (3) comprises a first long conductor (31) which is arranged in parallel with the first welding wire (21), a second long conductor (32) which is arranged in parallel with the second welding wire (22), a first connection circuit for providing the first long conductor (31) with current in the opposite direction to the first welding wire (21), and a second connection circuit for providing the second long conductor (32) with current in the opposite direction to the second welding wire (22);
the wires in the first connecting circuit and the second connecting circuit are respectively provided with a telescopic section (33) for providing allowance for the movement of the first long conductor (31) or the second long conductor (32), and balance unit moving mechanisms (4) are respectively arranged outside the first long conductor (31) and the second long conductor (32) and used for driving the balance unit (3) to be far away from or close to the double-wire welding unit (2);
the balance unit moving mechanism (4) comprises a second frame (45), a second cylinder (46) is arranged on the second frame (45), the output end of the second cylinder (46) is connected with a clamping jaw (52), the clamping jaw (52) is used for clamping the first long conductor (31) or the second long conductor (32), and the telescopic direction of the second cylinder (46) is perpendicular to the axial direction of the first long conductor (31);
the balance unit moving mechanism (4) further comprises a third mounting frame (41), the third mounting frame (41) is mounted on the walking robot (1), a first frame (42) is mounted at one end of the third mounting frame (41), a first air cylinder (43) is mounted on the first frame (42), the output end of the first air cylinder (43) is connected with a second frame (45), and the expansion direction of the first air cylinder (43) is axially parallel to the first long conductor (31).
2. The twin wire high speed welding robot of claim 1, wherein: the double-wire welding unit (2) further comprises a conductive nozzle (24), the first installation frame (11) is installed on the walking robot (1), the conductive nozzle (24) is installed on the first installation frame (11), and the welding gun is installed on the second installation frame (23).
3. A twin wire high speed welding robot as defined in claim 2, wherein: wire feeding mechanism (25) include wire reel (252), first round (253) and second round (254), wire reel (252) are installed on mounting bracket two (23), first round (253) and second round (254) are all rotationally installed on mounting bracket two (23), and the rotation direction of first round (253) and second round (254) is opposite, and the wheel face of first round (253) and the wheel face of second round (254) compress tightly first welding wire (21) or second welding wire (22), when first round (253) and second round (254) rotate, push first welding wire (21) and second welding wire (22) feed.
4. A twin wire high speed welding robot as defined in claim 3, wherein: the wire feeding mechanism (25) further comprises a driving gear (251), one end of the driving gear (251) is connected with the output end of the motor, two first wheels (253) and two second wheels (254) are arranged along the feeding direction of the welding wire, one ends of the two first wheels (253) are coaxially and fixedly connected with driven gears (255), the two driven gears (255) located on the same side of the welding wire are meshed with the driving gear (251), and when the driving gear (251) rotates, the two driven gears (255) located on the same side of the welding wire rotate in the same direction.
5. The twin wire high speed welding robot of claim 4, wherein: a first guide rod (44) for guiding the first cylinder (43) in a telescopic way is arranged on the first frame (42), and a second guide rod (47) for guiding the second cylinder (46) in a telescopic way is arranged on the second frame (45).
6. The twin wire high speed welding robot of claim 5, wherein: the walking robot (1) is provided with a welding seam monitoring unit (6) for monitoring the separation state of a welding seam solution in real time, the welding seam monitoring unit (6) comprises a camera for shooting a molten pool liquid picture of a welding position in real time, a slide rheostat connected with the first connecting circuit or the second connecting circuit in series, a comparison program for comparing the molten pool liquid separation distance of the welding position in the shot picture of the camera with a preset calibration, and a processing system for adjusting the slide rheostat based on the output welding quality of the comparison program and changing the current flowing through the first long conductor (31) and the second long conductor (32).
7. The twin-wire high-speed welding method of the twin-wire high-speed welding robot according to claim 6, wherein: comprises the steps of,
s1, establishing a welding seam real-time monitoring model, setting molten pool liquid separation distance standards in different welding seams, defining welding quality corresponding to different separation distances, inputting the welding quality calibration into a processing system as calibration, and editing a welding quality real-time monitoring program;
s2, monitoring welding quality information in real time, shooting a picture of molten pool liquid at a welding position in real time through a camera, obtaining a welding quality result of the welding position at the moment based on comparison between a separation distance of the molten pool liquid in the shot picture and a preset calibration, and transmitting the welding quality result information to a processing system;
s3, current adjustment, wherein the processing system adjusts the sliding rheostat assembly to a corresponding adjustment distance based on the input welding quality result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311486337.3A CN117206645B (en) | 2023-11-09 | 2023-11-09 | Double-wire high-speed welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311486337.3A CN117206645B (en) | 2023-11-09 | 2023-11-09 | Double-wire high-speed welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117206645A CN117206645A (en) | 2023-12-12 |
| CN117206645B true CN117206645B (en) | 2024-01-23 |
Family
ID=89037540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311486337.3A Active CN117206645B (en) | 2023-11-09 | 2023-11-09 | Double-wire high-speed welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117206645B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009233680A (en) * | 2008-03-26 | 2009-10-15 | Panasonic Corp | Welding apparatus |
| CN101745724A (en) * | 2009-12-17 | 2010-06-23 | 重庆大学 | Electromagnetic direct-drive high-speed double-wire magnetic-field compound flux copper-gasket submerged arc welding device and method thereof |
| CN206241445U (en) * | 2016-11-30 | 2017-06-13 | 石惟一 | Congruent melting pond Double Wire Welding wire feeder |
| WO2018086629A1 (en) * | 2016-11-11 | 2018-05-17 | 深圳市瑞凌实业股份有限公司 | Dual-wire arc welding method and device |
| CN113560755A (en) * | 2020-12-22 | 2021-10-29 | 哈尔滨工业大学（威海） | Magnetic field phase regulation type plasma MIG welding device and method |
| CN114713943A (en) * | 2022-06-09 | 2022-07-08 | 吉林大学 | Ultrasonic vibration coupling magnetic field assisted arc fuse additive manufacturing system |
-
2023
- 2023-11-09 CN CN202311486337.3A patent/CN117206645B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009233680A (en) * | 2008-03-26 | 2009-10-15 | Panasonic Corp | Welding apparatus |
| CN101745724A (en) * | 2009-12-17 | 2010-06-23 | 重庆大学 | Electromagnetic direct-drive high-speed double-wire magnetic-field compound flux copper-gasket submerged arc welding device and method thereof |
| WO2018086629A1 (en) * | 2016-11-11 | 2018-05-17 | 深圳市瑞凌实业股份有限公司 | Dual-wire arc welding method and device |
| CN206241445U (en) * | 2016-11-30 | 2017-06-13 | 石惟一 | Congruent melting pond Double Wire Welding wire feeder |
| CN113560755A (en) * | 2020-12-22 | 2021-10-29 | 哈尔滨工业大学（威海） | Magnetic field phase regulation type plasma MIG welding device and method |
| CN114713943A (en) * | 2022-06-09 | 2022-07-08 | 吉林大学 | Ultrasonic vibration coupling magnetic field assisted arc fuse additive manufacturing system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117206645A (en) | 2023-12-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106624323A (en) | Fuse wire filled multifunctional controllable additive manufacturing device | |
| US4851639A (en) | Apparatus for automatically welding cylindrical vessel | |
| CN111014885B (en) | Multi-filament efficient forming additive manufacturing device | |
| CN207239351U (en) | A kind of automatic tin solder | |
| KR20110114579A (en) | Double wire gmaw welding torch assembly and process | |
| CN210099388U (en) | High-efficient welding system of thick wall work piece | |
| CN117206645B (en) | Double-wire high-speed welding robot | |
| CN109070256A (en) | Arc-welding set | |
| CN114700589A (en) | Aluminum alloy sheet butt weld reinforcement control device and method for compensating weld gap | |
| CN209998528U (en) | arc welding system with adjustable additional wire feeder | |
| JP2002160059A (en) | Arc starting method and welding apparatus in consumable electrode arc welding | |
| JP7303383B2 (en) | Method and apparatus for welding weld seams | |
| CN215238471U (en) | Cable type welding wire narrow gap welding gun | |
| CN212552191U (en) | Welding forming device | |
| CN210498737U (en) | Efficient welding wire distribution adjustable submerged-arc welding device | |
| KR20100032006A (en) | Electro gas arc welding apparatus to control feeding speed of wire and the feeding speed control method | |
| JP4227483B2 (en) | Automatic welding machine | |
| EP3487653B1 (en) | Torch, in particular for welding or for cladding, and method comprising a contact tip independently moving, in particular pivoting, with respect to the torch body during operation | |
| JP4500489B2 (en) | Welding method and welding apparatus | |
| JP3145542B2 (en) | TIG welding torch | |
| JP2004148371A (en) | Welding system and welding method | |
| CN111822861B (en) | Laser welding torch system | |
| CN220591858U (en) | Argon arc welding machine head | |
| CN214322117U (en) | Semi-automatic spot welding device suitable for circuit board | |
| CN212793494U (en) | Single-plate inversion direct-current argon arc welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |